相关论文: Development of a Multi-Fingered Soft Gripper Digit…
Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…
Deep learning models have created great opportunities for data-driven fault diagnosis but they require large amount of labeled failure data for training. In this paper, we propose to use a digital twin to support developing data-driven…
Single-arm trials are an important study design for evaluating drug efficacy and safety without enrolling patients into a control arm. Although they do not provide the gold-standard evidence of randomized controlled trials, they are…
Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating…
Digital twins promise to revolutionize engineering by offering new avenues for optimization, control, and predictive maintenance. We propose a novel framework for simultaneously training the digital twin of an engineering system and an…
The collaboration between humans and robots re-quires a paradigm shift not only in robot perception, reasoning, and action, but also in the design of the robotic cell. This paper proposes an optimization framework for designing…
Robotic surgery imposes a significant cognitive burden on the surgeon. This cognitive burden increases in the case of remote robotic surgeries due to latency between entities and thus might affect the quality of surgery. Here, the patient…
Digital twins have attracted a great deal of recent attention from a wide range of fields. A basic requirement for digital twins of nonlinear dynamical systems is the ability to generate the system evolution and predict potentially…
Accurate and safe robotic manipulation under dynamic and visually occluded conditions remains a core challenge in real-world deployment. We introduce SyncTwin, a novel digital twin framework that unifies fast 3D scene reconstruction and…
We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by the model uncertainty on the active…
Hand impairment following neurological disorders substantially limits independence in activities of daily living, motivating the development of effective assistive and rehabilitation strategies. Soft robotic gloves have attracted growing…
This paper presents a novel design of a soft tactile finger with omni-directional adaptation using multi-channel optical fibers for rigid-soft interactive grasping. Machine learning methods are used to train a model for real-time prediction…
A framework for creating and updating digital twins for dynamical systems from a library of physics-based functions is proposed. The sparse Bayesian machine learning is used to update and derive an interpretable expression for the digital…
As collaborative robot (Cobot) adoption in many sectors grows, so does the interest in integrating digital twins in human-robot collaboration (HRC). Virtual representations of physical systems (PT) and assets, known as digital twins, can…
In existing wireless networks, the control programs have been designed manually and for certain predefined scenarios. This process is complicated and error-prone, and the resulting control programs are not resilient to disruptive changes.…
The paper presents a novel cloud-based digital twin learning platform for teaching and training concepts of cognitive robotics. Instead of forcing interested learners or students to install a new operating system and bulky, fragile software…
We introduce a novel digital twin framework for predictive maintenance of long-term physical systems. Using monitoring tire health as an application, we show how the digital twin framework can be used to enhance automotive safety and…
In this paper, we propose a single-actuator gripper that can lift thin objects lying on a flat surface, in addition to the ability as a standard parallel gripper. The key is a crawler on the fingertip, which is underactuated together with…
Physics-based digital twins aim to predict the dynamics of real-world objects under interaction, enabling real-to-sim-to-real applications in robotics. Current approaches reconstruct such twins as explicit physical models (such as…
The biopharmaceutical industry is increasingly developing digital twins to digitalize and automate the manufacturing process in response to the growing market demands. However, this shift presents significant challenges for human operators,…